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<li class="navelem"><a class="el" href="dir_d44c64559bbebec7f509842c48db8b23.html">include</a></li><li class="navelem"><a class="el" href="dir_94ddb28d1a8f6d812dff56d903a1ce15.html">global_body_planner</a></li>  </ul>
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<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="preprocessor">#ifndef GLOBAL_BODY_PLANNER_H</span></div><div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="preprocessor">#define GLOBAL_BODY_PLANNER_H</span></div><div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;</div><div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="preprocessor">#include &lt;ros/ros.h&gt;</span></div><div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="preprocessor">#include &lt;nav_msgs/Path.h&gt;</span></div><div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="preprocessor">#include &lt;tf2/LinearMath/Quaternion.h&gt;</span></div><div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="preprocessor">#include &lt;tf2_geometry_msgs/tf2_geometry_msgs.h&gt;</span></div><div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;</div><div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;<span class="preprocessor">#include &lt;global_body_planner/BodyPlan.h&gt;</span></div><div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;<span class="preprocessor">#include &quot;global_body_planner/fast_terrain_map.h&quot;</span></div><div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;</div><div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;<span class="preprocessor">#include &quot;global_body_planner/planning_utils.h&quot;</span></div><div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;<span class="preprocessor">#include &quot;global_body_planner/planner_class.h&quot;</span></div><div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;<span class="preprocessor">#include &quot;global_body_planner/rrt_star_connect.h&quot;</span></div><div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;</div><div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160;<span class="preprocessor">#include &lt;grid_map_core/grid_map_core.hpp&gt;</span></div><div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160;<span class="preprocessor">#include &lt;grid_map_ros/grid_map_ros.hpp&gt;</span></div><div class="line"><a name="l00018"></a><span class="lineno">   18</span>&#160;<span class="preprocessor">#include &lt;grid_map_ros/GridMapRosConverter.hpp&gt;</span></div><div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160;</div><div class="line"><a name="l00020"></a><span class="lineno">   20</span>&#160;</div><div class="line"><a name="l00021"></a><span class="lineno">   21</span>&#160;<span class="keyword">using namespace </span><a class="code" href="namespaceplanning__utils.html">planning_utils</a>;</div><div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160;</div><div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160;</div><div class="line"><a name="l00030"></a><span class="lineno"><a class="line" href="classGlobalBodyPlanner.html">   30</a></span>&#160;<span class="keyword">class </span><a class="code" href="classGlobalBodyPlanner.html">GlobalBodyPlanner</a> {</div><div class="line"><a name="l00031"></a><span class="lineno">   31</span>&#160;  <span class="keyword">public</span>:</div><div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160;    <a class="code" href="classGlobalBodyPlanner.html">GlobalBodyPlanner</a>(ros::NodeHandle nh);</div><div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;</div><div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;    <span class="keywordtype">void</span> callPlanner();</div><div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;</div><div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;    <span class="keywordtype">void</span> spin();</div><div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;</div><div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;  <span class="keyword">private</span>:</div><div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160;    <span class="keywordtype">void</span> terrainMapCallback(<span class="keyword">const</span> grid_map_msgs::GridMap::ConstPtr&amp; msg);</div><div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160;</div><div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160;    <span class="keywordtype">void</span> setStartAndGoalStates();</div><div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160;</div><div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160;    <span class="keywordtype">void</span> clearPlan();</div><div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160;</div><div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160;    <span class="keywordtype">void</span> addBodyStateToMsg(<span class="keywordtype">double</span> t, State body_state, global_body_planner::BodyPlan&amp; body_plan_msg);</div><div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160;</div><div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160;    <span class="keywordtype">void</span> publishPlan();</div><div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160;</div><div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160;    <span class="keywordtype">void</span> waitForMap();</div><div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160;</div><div class="line"><a name="l00085"></a><span class="lineno"><a class="line" href="classGlobalBodyPlanner.html#adb8189fbb2d0372db2eb06ee6ea67d11">   85</a></span>&#160;    ros::Subscriber <a class="code" href="classGlobalBodyPlanner.html#adb8189fbb2d0372db2eb06ee6ea67d11">terrain_map_sub_</a>;</div><div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160;</div><div class="line"><a name="l00088"></a><span class="lineno"><a class="line" href="classGlobalBodyPlanner.html#a5b7373f6e544a844dc1d09f296d92e1c">   88</a></span>&#160;    ros::Publisher <a class="code" href="classGlobalBodyPlanner.html#a5b7373f6e544a844dc1d09f296d92e1c">body_plan_pub_</a>;</div><div class="line"><a name="l00089"></a><span class="lineno">   89</span>&#160;</div><div class="line"><a name="l00091"></a><span class="lineno"><a class="line" href="classGlobalBodyPlanner.html#a9ea26e9a8e1c02818d9e84484565e267">   91</a></span>&#160;    ros::Publisher <a class="code" href="classGlobalBodyPlanner.html#a9ea26e9a8e1c02818d9e84484565e267">discrete_body_plan_pub_</a>;</div><div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160;</div><div class="line"><a name="l00094"></a><span class="lineno"><a class="line" href="classGlobalBodyPlanner.html#aed259cd32b2a44277be294e981093d36">   94</a></span>&#160;    ros::NodeHandle <a class="code" href="classGlobalBodyPlanner.html#aed259cd32b2a44277be294e981093d36">nh_</a>;</div><div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160;</div><div class="line"><a name="l00097"></a><span class="lineno"><a class="line" href="classGlobalBodyPlanner.html#ae58fd1f832f4d71fde0c8feb2f837d58">   97</a></span>&#160;    <span class="keywordtype">double</span> <a class="code" href="classGlobalBodyPlanner.html#ae58fd1f832f4d71fde0c8feb2f837d58">update_rate_</a>;</div><div class="line"><a name="l00098"></a><span class="lineno">   98</span>&#160;</div><div class="line"><a name="l00100"></a><span class="lineno"><a class="line" href="classGlobalBodyPlanner.html#a7d917ce8f4d6f43b3855dd3a48809fa7">  100</a></span>&#160;    <span class="keywordtype">int</span> <a class="code" href="classGlobalBodyPlanner.html#a7d917ce8f4d6f43b3855dd3a48809fa7">num_calls_</a>;</div><div class="line"><a name="l00101"></a><span class="lineno">  101</span>&#160;</div><div class="line"><a name="l00103"></a><span class="lineno"><a class="line" href="classGlobalBodyPlanner.html#a60cae5753166db3a1d5600e21dc7a262">  103</a></span>&#160;    std::string <a class="code" href="classGlobalBodyPlanner.html#a60cae5753166db3a1d5600e21dc7a262">algorithm_</a>;</div><div class="line"><a name="l00104"></a><span class="lineno">  104</span>&#160;</div><div class="line"><a name="l00106"></a><span class="lineno"><a class="line" href="classGlobalBodyPlanner.html#a99c27e47add60e2a0303fd51d19908e1">  106</a></span>&#160;    <span class="keywordtype">double</span> <a class="code" href="classGlobalBodyPlanner.html#a99c27e47add60e2a0303fd51d19908e1">replan_time_limit_</a>;</div><div class="line"><a name="l00107"></a><span class="lineno">  107</span>&#160;</div><div class="line"><a name="l00109"></a><span class="lineno"><a class="line" href="classGlobalBodyPlanner.html#a7b45b7415cdca9ec042f0619deee4447">  109</a></span>&#160;    std::string <a class="code" href="classGlobalBodyPlanner.html#a7b45b7415cdca9ec042f0619deee4447">map_frame_</a>;</div><div class="line"><a name="l00110"></a><span class="lineno">  110</span>&#160;</div><div class="line"><a name="l00112"></a><span class="lineno"><a class="line" href="classGlobalBodyPlanner.html#a4ce8a926b03bb78083a6a20e0851a05a">  112</a></span>&#160;    <a class="code" href="classFastTerrainMap.html">FastTerrainMap</a> <a class="code" href="classGlobalBodyPlanner.html#a4ce8a926b03bb78083a6a20e0851a05a">terrain_</a>;</div><div class="line"><a name="l00113"></a><span class="lineno">  113</span>&#160;</div><div class="line"><a name="l00115"></a><span class="lineno"><a class="line" href="classGlobalBodyPlanner.html#aeda69724f6100af1e961345ffbe129a8">  115</a></span>&#160;    std::vector&lt;State&gt; <a class="code" href="classGlobalBodyPlanner.html#aeda69724f6100af1e961345ffbe129a8">body_plan_</a>;</div><div class="line"><a name="l00116"></a><span class="lineno">  116</span>&#160;</div><div class="line"><a name="l00118"></a><span class="lineno"><a class="line" href="classGlobalBodyPlanner.html#a029413a439d6621407f9e7d7020b18b5">  118</a></span>&#160;    std::vector&lt;double&gt; <a class="code" href="classGlobalBodyPlanner.html#a029413a439d6621407f9e7d7020b18b5">t_plan_</a>;</div><div class="line"><a name="l00119"></a><span class="lineno">  119</span>&#160;</div><div class="line"><a name="l00121"></a><span class="lineno"><a class="line" href="classGlobalBodyPlanner.html#ac9494fb18caf34bde43db027b28d08e2">  121</a></span>&#160;    State <a class="code" href="classGlobalBodyPlanner.html#ac9494fb18caf34bde43db027b28d08e2">robot_start_</a>;</div><div class="line"><a name="l00122"></a><span class="lineno">  122</span>&#160;</div><div class="line"><a name="l00124"></a><span class="lineno"><a class="line" href="classGlobalBodyPlanner.html#a9c4fa0a4981d47552500e7fbe4053bb4">  124</a></span>&#160;    State <a class="code" href="classGlobalBodyPlanner.html#a9c4fa0a4981d47552500e7fbe4053bb4">robot_goal_</a>;</div><div class="line"><a name="l00125"></a><span class="lineno">  125</span>&#160;    </div><div class="line"><a name="l00127"></a><span class="lineno"><a class="line" href="classGlobalBodyPlanner.html#a50df2ef4bdaca844a07ece58a468de64">  127</a></span>&#160;    std::vector&lt;State&gt; <a class="code" href="classGlobalBodyPlanner.html#a50df2ef4bdaca844a07ece58a468de64">state_sequence_</a>;</div><div class="line"><a name="l00128"></a><span class="lineno">  128</span>&#160;</div><div class="line"><a name="l00130"></a><span class="lineno"><a class="line" href="classGlobalBodyPlanner.html#a66b5df244875b0209ceb2c634d93c050">  130</a></span>&#160;    std::vector&lt;Action&gt; <a class="code" href="classGlobalBodyPlanner.html#a66b5df244875b0209ceb2c634d93c050">action_sequence_</a>;</div><div class="line"><a name="l00131"></a><span class="lineno">  131</span>&#160;</div><div class="line"><a name="l00133"></a><span class="lineno"><a class="line" href="classGlobalBodyPlanner.html#ad6ca89bb990b3f2c6a94c34322ae24af">  133</a></span>&#160;    std::vector&lt;std::vector&lt;double&gt; &gt; <a class="code" href="classGlobalBodyPlanner.html#ad6ca89bb990b3f2c6a94c34322ae24af">cost_vectors_</a>;</div><div class="line"><a name="l00134"></a><span class="lineno">  134</span>&#160;</div><div class="line"><a name="l00136"></a><span class="lineno"><a class="line" href="classGlobalBodyPlanner.html#a121db12e5a6ba27425a468260108caf3">  136</a></span>&#160;    std::vector&lt;std::vector&lt;double&gt; &gt; <a class="code" href="classGlobalBodyPlanner.html#a121db12e5a6ba27425a468260108caf3">cost_vectors_times_</a>;</div><div class="line"><a name="l00137"></a><span class="lineno">  137</span>&#160;</div><div class="line"><a name="l00139"></a><span class="lineno"><a class="line" href="classGlobalBodyPlanner.html#ae431f7b02f8c58d4fa354faeed6714e9">  139</a></span>&#160;    std::vector&lt;double&gt; <a class="code" href="classGlobalBodyPlanner.html#ae431f7b02f8c58d4fa354faeed6714e9">solve_time_info_</a>;</div><div class="line"><a name="l00140"></a><span class="lineno">  140</span>&#160;</div><div class="line"><a name="l00142"></a><span class="lineno"><a class="line" href="classGlobalBodyPlanner.html#adfbd439f7eeadbf40694ba90bcd566e4">  142</a></span>&#160;    std::vector&lt;int&gt; <a class="code" href="classGlobalBodyPlanner.html#adfbd439f7eeadbf40694ba90bcd566e4">vertices_generated_info_</a>;</div><div class="line"><a name="l00143"></a><span class="lineno">  143</span>&#160;</div><div class="line"><a name="l00144"></a><span class="lineno">  144</span>&#160;};</div><div class="line"><a name="l00145"></a><span class="lineno">  145</span>&#160;</div><div class="line"><a name="l00146"></a><span class="lineno">  146</span>&#160;</div><div class="line"><a name="l00147"></a><span class="lineno">  147</span>&#160;<span class="preprocessor">#endif // GLOBAL_BODY_PLANNER_H</span></div><div class="ttc" id="classGlobalBodyPlanner_html_a029413a439d6621407f9e7d7020b18b5"><div class="ttname"><a href="classGlobalBodyPlanner.html#a029413a439d6621407f9e7d7020b18b5">GlobalBodyPlanner::t_plan_</a></div><div class="ttdeci">std::vector&lt; double &gt; t_plan_</div><div class="ttdoc">Std vector containing the interpolated time data. </div><div class="ttdef"><b>Definition:</b> global_body_planner.h:118</div></div>
<div class="ttc" id="namespaceplanning__utils_html"><div class="ttname"><a href="namespaceplanning__utils.html">planning_utils</a></div><div class="ttdef"><b>Definition:</b> planning_utils.h:18</div></div>
<div class="ttc" id="classGlobalBodyPlanner_html_adfbd439f7eeadbf40694ba90bcd566e4"><div class="ttname"><a href="classGlobalBodyPlanner.html#adfbd439f7eeadbf40694ba90bcd566e4">GlobalBodyPlanner::vertices_generated_info_</a></div><div class="ttdeci">std::vector&lt; int &gt; vertices_generated_info_</div><div class="ttdoc">Vector of number of vertices for each planning call. </div><div class="ttdef"><b>Definition:</b> global_body_planner.h:142</div></div>
<div class="ttc" id="classGlobalBodyPlanner_html_a121db12e5a6ba27425a468260108caf3"><div class="ttname"><a href="classGlobalBodyPlanner.html#a121db12e5a6ba27425a468260108caf3">GlobalBodyPlanner::cost_vectors_times_</a></div><div class="ttdeci">std::vector&lt; std::vector&lt; double &gt; &gt; cost_vectors_times_</div><div class="ttdoc">Vector of time instances of cost data for each planning call (nested STL vectors) ...</div><div class="ttdef"><b>Definition:</b> global_body_planner.h:136</div></div>
<div class="ttc" id="classGlobalBodyPlanner_html_a9ea26e9a8e1c02818d9e84484565e267"><div class="ttname"><a href="classGlobalBodyPlanner.html#a9ea26e9a8e1c02818d9e84484565e267">GlobalBodyPlanner::discrete_body_plan_pub_</a></div><div class="ttdeci">ros::Publisher discrete_body_plan_pub_</div><div class="ttdoc">Publisher for discrete states in body plan messages. </div><div class="ttdef"><b>Definition:</b> global_body_planner.h:91</div></div>
<div class="ttc" id="classGlobalBodyPlanner_html_a5b7373f6e544a844dc1d09f296d92e1c"><div class="ttname"><a href="classGlobalBodyPlanner.html#a5b7373f6e544a844dc1d09f296d92e1c">GlobalBodyPlanner::body_plan_pub_</a></div><div class="ttdeci">ros::Publisher body_plan_pub_</div><div class="ttdoc">Publisher for body plan messages. </div><div class="ttdef"><b>Definition:</b> global_body_planner.h:88</div></div>
<div class="ttc" id="classGlobalBodyPlanner_html_a66b5df244875b0209ceb2c634d93c050"><div class="ttname"><a href="classGlobalBodyPlanner.html#a66b5df244875b0209ceb2c634d93c050">GlobalBodyPlanner::action_sequence_</a></div><div class="ttdeci">std::vector&lt; Action &gt; action_sequence_</div><div class="ttdoc">Sequence of discrete actions in the plan. </div><div class="ttdef"><b>Definition:</b> global_body_planner.h:130</div></div>
<div class="ttc" id="classGlobalBodyPlanner_html_ad6ca89bb990b3f2c6a94c34322ae24af"><div class="ttname"><a href="classGlobalBodyPlanner.html#ad6ca89bb990b3f2c6a94c34322ae24af">GlobalBodyPlanner::cost_vectors_</a></div><div class="ttdeci">std::vector&lt; std::vector&lt; double &gt; &gt; cost_vectors_</div><div class="ttdoc">Vector of cost instances in each planning call (nested STL vectors) </div><div class="ttdef"><b>Definition:</b> global_body_planner.h:133</div></div>
<div class="ttc" id="classGlobalBodyPlanner_html_a99c27e47add60e2a0303fd51d19908e1"><div class="ttname"><a href="classGlobalBodyPlanner.html#a99c27e47add60e2a0303fd51d19908e1">GlobalBodyPlanner::replan_time_limit_</a></div><div class="ttdeci">double replan_time_limit_</div><div class="ttdoc">Time after which replanning is halted;. </div><div class="ttdef"><b>Definition:</b> global_body_planner.h:106</div></div>
<div class="ttc" id="classFastTerrainMap_html"><div class="ttname"><a href="classFastTerrainMap.html">FastTerrainMap</a></div><div class="ttdoc">A terrain map class built for fast and efficient sampling. </div><div class="ttdef"><b>Definition:</b> fast_terrain_map.h:10</div></div>
<div class="ttc" id="classGlobalBodyPlanner_html_a7d917ce8f4d6f43b3855dd3a48809fa7"><div class="ttname"><a href="classGlobalBodyPlanner.html#a7d917ce8f4d6f43b3855dd3a48809fa7">GlobalBodyPlanner::num_calls_</a></div><div class="ttdeci">int num_calls_</div><div class="ttdoc">Number of times to call the planner. </div><div class="ttdef"><b>Definition:</b> global_body_planner.h:100</div></div>
<div class="ttc" id="classGlobalBodyPlanner_html_ae58fd1f832f4d71fde0c8feb2f837d58"><div class="ttname"><a href="classGlobalBodyPlanner.html#ae58fd1f832f4d71fde0c8feb2f837d58">GlobalBodyPlanner::update_rate_</a></div><div class="ttdeci">double update_rate_</div><div class="ttdoc">Update rate for sending and receiving data;. </div><div class="ttdef"><b>Definition:</b> global_body_planner.h:97</div></div>
<div class="ttc" id="classGlobalBodyPlanner_html_a9c4fa0a4981d47552500e7fbe4053bb4"><div class="ttname"><a href="classGlobalBodyPlanner.html#a9c4fa0a4981d47552500e7fbe4053bb4">GlobalBodyPlanner::robot_goal_</a></div><div class="ttdeci">State robot_goal_</div><div class="ttdoc">Robot goal state. </div><div class="ttdef"><b>Definition:</b> global_body_planner.h:124</div></div>
<div class="ttc" id="classGlobalBodyPlanner_html_a4ce8a926b03bb78083a6a20e0851a05a"><div class="ttname"><a href="classGlobalBodyPlanner.html#a4ce8a926b03bb78083a6a20e0851a05a">GlobalBodyPlanner::terrain_</a></div><div class="ttdeci">FastTerrainMap terrain_</div><div class="ttdoc">Struct for terrain map data. </div><div class="ttdef"><b>Definition:</b> global_body_planner.h:112</div></div>
<div class="ttc" id="classGlobalBodyPlanner_html_adb8189fbb2d0372db2eb06ee6ea67d11"><div class="ttname"><a href="classGlobalBodyPlanner.html#adb8189fbb2d0372db2eb06ee6ea67d11">GlobalBodyPlanner::terrain_map_sub_</a></div><div class="ttdeci">ros::Subscriber terrain_map_sub_</div><div class="ttdoc">Subscriber for terrain map messages. </div><div class="ttdef"><b>Definition:</b> global_body_planner.h:85</div></div>
<div class="ttc" id="classGlobalBodyPlanner_html_a7b45b7415cdca9ec042f0619deee4447"><div class="ttname"><a href="classGlobalBodyPlanner.html#a7b45b7415cdca9ec042f0619deee4447">GlobalBodyPlanner::map_frame_</a></div><div class="ttdeci">std::string map_frame_</div><div class="ttdoc">Handle for the map frame. </div><div class="ttdef"><b>Definition:</b> global_body_planner.h:109</div></div>
<div class="ttc" id="classGlobalBodyPlanner_html_aeda69724f6100af1e961345ffbe129a8"><div class="ttname"><a href="classGlobalBodyPlanner.html#aeda69724f6100af1e961345ffbe129a8">GlobalBodyPlanner::body_plan_</a></div><div class="ttdeci">std::vector&lt; State &gt; body_plan_</div><div class="ttdoc">Std vector containing the interpolated robot body plan. </div><div class="ttdef"><b>Definition:</b> global_body_planner.h:115</div></div>
<div class="ttc" id="classGlobalBodyPlanner_html_ae431f7b02f8c58d4fa354faeed6714e9"><div class="ttname"><a href="classGlobalBodyPlanner.html#ae431f7b02f8c58d4fa354faeed6714e9">GlobalBodyPlanner::solve_time_info_</a></div><div class="ttdeci">std::vector&lt; double &gt; solve_time_info_</div><div class="ttdoc">Vector of solve times for each planning call. </div><div class="ttdef"><b>Definition:</b> global_body_planner.h:139</div></div>
<div class="ttc" id="classGlobalBodyPlanner_html_a50df2ef4bdaca844a07ece58a468de64"><div class="ttname"><a href="classGlobalBodyPlanner.html#a50df2ef4bdaca844a07ece58a468de64">GlobalBodyPlanner::state_sequence_</a></div><div class="ttdeci">std::vector&lt; State &gt; state_sequence_</div><div class="ttdoc">Sequence of discrete states in the plan. </div><div class="ttdef"><b>Definition:</b> global_body_planner.h:127</div></div>
<div class="ttc" id="classGlobalBodyPlanner_html_aed259cd32b2a44277be294e981093d36"><div class="ttname"><a href="classGlobalBodyPlanner.html#aed259cd32b2a44277be294e981093d36">GlobalBodyPlanner::nh_</a></div><div class="ttdeci">ros::NodeHandle nh_</div><div class="ttdoc">Nodehandle to pub to and sub from. </div><div class="ttdef"><b>Definition:</b> global_body_planner.h:94</div></div>
<div class="ttc" id="classGlobalBodyPlanner_html_ac9494fb18caf34bde43db027b28d08e2"><div class="ttname"><a href="classGlobalBodyPlanner.html#ac9494fb18caf34bde43db027b28d08e2">GlobalBodyPlanner::robot_start_</a></div><div class="ttdeci">State robot_start_</div><div class="ttdoc">Robot starting state. </div><div class="ttdef"><b>Definition:</b> global_body_planner.h:121</div></div>
<div class="ttc" id="classGlobalBodyPlanner_html"><div class="ttname"><a href="classGlobalBodyPlanner.html">GlobalBodyPlanner</a></div><div class="ttdoc">A global body planning class for legged robots. </div><div class="ttdef"><b>Definition:</b> global_body_planner.h:30</div></div>
<div class="ttc" id="classGlobalBodyPlanner_html_a60cae5753166db3a1d5600e21dc7a262"><div class="ttname"><a href="classGlobalBodyPlanner.html#a60cae5753166db3a1d5600e21dc7a262">GlobalBodyPlanner::algorithm_</a></div><div class="ttdeci">std::string algorithm_</div><div class="ttdoc">Algorithm for planner to run (rrt-connect or rrt-star-connect) </div><div class="ttdef"><b>Definition:</b> global_body_planner.h:103</div></div>
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